ROBOTIC ARM Arduino Controlled

An robotic arm is responsible for very complicated processes which required a rigorous and complex programming;I'm an electronic engineering student and I have always caught my attention these projects so I decided " I want to build a robotic arm." In this blog I present the results , hoping to be useful to others who are also interested .

This robotic arm is a little demonstration on servomotors which are typically used in RC models , and is controlled from a PC , meaning through the LabView program and arduino toolkit ; well as control from a cell phone with android system.


A robotic arm is a type normally programmable mechanical arm, similar to the functions of a human arm ; this may be the sum total of the mechanism or may be part of a more complex robot. The parts of these manipulators or arms are interconnected through articulated joints that allow both a rotational movement ( such as an articulated robot ) , as a translational linear move .

Step 1: Materials

The robotic arm uses 6 servo motors:

1 servo HITEC HS-815BB   (24kg.cm    shoulder)
1 servo HITEC HS-755HB   (13kg.cm   elbow)
2 servos HITEC HS-311      (3kg.cm articulation up/down and turn 180º)
1 servo Tower pro 996R      (10kg.cm  base)
1 micro servo Towe pro       (3kg.cm pin)

Step 2: Diagram and Circuits

Step 3: MOVEMENTS

The arm has 6 degrees of freedom of movement:
a swivel base
a servo motor in the "shoulder"
a servo motor in the "elbow"
two servo motors in the "doll", one to move up and down and one for left and right rotation.
And a sixth servo motor at the handling clamp.
I have made different designs of the various parts, and I present these are the most "accomplished", the result of much "trial and trial." Now it looks like the actual structure of an industrial arm.
The length of the section that goes between the elbow and wrist is almost equal to the length of the "hand" which enables a good balance; and to help I put springs in the elbow to have a good balance of weights and so assist servo motors.
The servo shoulder has the "reinforcement" of a spring when the arm is tilted forward.

Step 4: SERVO MOTORS

The servo motor has some control circuits and a potentiometer (a variable resistor) that is connected to the central axis of the servo motor. In the figure it can be seen on the right side of the circuit. This potentiometer allows the control circuitry, monitor the current angle of the servo motor. If the shaft is at the correct angle, then the engine is off. If the circuit checks that the angle is not correct, the motor will turn in the right direction until the correct angle. The shaft of the servo is capable of reaching around 180 degrees. Normally, in some reaches 210 degrees, but it varies by manufacturer. A normal servo is used to control an angular motion of between 0 and 180.

Step 5: PHOTOS

Step 6: APLICATIONS

You can download the program here:

https://onedrive.live.com/redir?resid=7A41020FCBD2795B%21248



If you want the android apk and the source code you can find it here:

http://electrongeeks.blogspot.com/2014/03/aplicaciones-para-controlar-un-brazo.html

Step 7: VIDEOS

Step 8: NEW UPGRADES

Comments

[solarborg]

Hope you don't expect your arm to do any hard work. The arms I've seen use nemo 17's and above as in powerful ones.
A drone for window cleaning? That would have to be able to carry water the arm,batteries and receiver as well.
A Windscreen motor would be perfect. Although you could use an extending pipe from ground to air depends on height. It's the height and the weight you have to take into account.
How much weight can your drone carry?
How much water will you need? Don't forget how much water weighs.

[AkpanT]

Did anybody get the code to this amazing project?.
I'll be glad to have the code. Currently working on same.
Maybe the complete PDF?

[vandnak]

Hello sir ,
We are making stone cutter using Arduino .
Sir their would be two cutter one would be horizontal and other would be vertical , the both cutter would be carried arms . And it would also use the sliding mechanism.
So , which motor should we use for that project . what would be the code for Arduino .
Or by using Arduino can we cut Rock?

[ErnestoI3]

Hello bro, excellent project, a question, could you share the source code for the LabView and the communication with the arduino?You would do me a big favor, or in some case some link on how to do the interface in LabView. My Gmail: [e-mail]

[Efikama]

I am interested in this interface too. thank you

[kosuriprasad1]

sir, would u plz. provide complete pdf about this project..???

[hr_panchal]

Hi,

Is it possible to find code for help here. Please provide source code if you can.

Thanks

[SurajK127]

Can you please provide me its source code.

[chandanA10]

other motor spacification which we can use for this

[sahuVedprakash832]

Please send me all design process of these project

[dimitrakis1992]

I make the project and i decide to upload the code.Have fun :)

#include <Servo.h>

Servo myservo1;

Servo myservo2;

Servo myservo3;

Servo myservo4;

Servo myservo5;

Servo myservo6;

int potpin1 = 0;

int potpin2 = 1;

int potpin3 = 2;

int potpin4 = 3;

int potpin5 = 4;

int potpin6 = 5;

int val1 = 0;

int val2 = 0;

int val3 = 0;

int val4 = 0;

int val5 = 0;

int val6 = 0;

void setup()

{

myservo1.attach(2);

myservo2.attach(3);

myservo3.attach(4);

myservo4.attach(5);

myservo5.attach(6);

myservo6.attach(7);

}

void loop()

{

val1 = analogRead(potpin1);

val1 = map(val1, 3, 1023, 0, 176);

myservo1.write(val1);

delay(25);

val2 = analogRead(potpin2);

val2 = map(val2, 3, 1023, 0, 176);

myservo2.write(val2);

delay(25);

val3 = analogRead(potpin3);

val3 = map(val3, 3, 1023, 0, 175);

myservo3.write(val3);

delay(25);

val4 = analogRead(potpin4);

val4 = map(val4, 3, 1023, 0, 175);

myservo4.write(val4);

delay(25);

val5 = analogRead(potpin5);

val5 = map(val5, 3, 1023, 0, 175);

myservo5.write(val5);

delay(25);

val6 = analogRead(potpin6);

val6 = map(val6, 3, 1023, 0, 175);

myservo6.write(val6);

delay(25);

}

[sd3112]

I am really amazed by the magnificent project you have done and I have few tiny questions. My goal is to attach your robotic arm to a drone for cleaning jobs. Therefore, I will change the handling clamp to a brush in order to maintain the cleaning purpose. My question is, how much is the total mass of the whole robotic arm? Will it function smoothly if it were hung upside down? And is it made of a sustainable material that will prevent it from breaking if it was exposed to wind force?

Thank you so much and it will be kind of you if you reply me back on my email :

[e-mail]

Your response is highly appreciated.

[sahuVedprakash832]

Please send me its bluetooth controlled source code

[sahuVedprakash832]

Please send me its bluetooth controlled source code.
My email is

[e-mail]

[kedarisetti]

Can u mail pls mail me the full code file and building guide of yours

[e-mail]

[aoiraptor]

if you have the CAD file can U share it plz

[sd3112]

I am really amazed by the magnificent project you have done and I have few tiny questions. My goal is to attach your robotic arm to a drone for cleaning jobs. Therefore, I will change the handling clamp to a brush in order to maintain the cleaning purpose. My question is, how much is the total mass of the whole robotic arm? Will it function smoothly if it were hung upside down? And is it made of a sustainable material that will prevent it from breaking if it was exposed to wind force?

Thank you so much and it will be kind of you if you reply me back on my email :

[e-mail]

Your response is highly appreciated.

[sd3112]

I am really amazed by the magnificent project you have done and I have few tiny questions. My goal is to attach your robotic arm to a drone for cleaning jobs. Therefore, I will change the handling clamp to a brush in order to maintain the cleaning purpose. My question is, how much is the total mass of the whole robotic arm? Will it function smoothly if it were hung upside down? And is it made of a sustainable material that will prevent it from breaking if it was exposed to wind force?

Thank you so much and it will be kind of you if you reply me back on my email :

[e-mail]

Your response is highly appreciated.

[electro18]

Awesome project , but can you provide the full building guide ?

[Evil zoids]

I will try